To provide a drivingly controlling method and a drivingly controlling device capable of accurately detecting, with a simple structure, the collision of driven members driven by a drive means such as robot with an obstacle and minimizing the damage to the members caused by the collision.
When an estimated speed variation or an estimated acceleration deviation exceeds thresholds, the collision is considered to be realized. Then after the maintenance of the operation of the driven members of the drive means, for example, the end effectors 9 of the robot 1 toward the obstacle is stopped, the route of the driven members before the collision is traced back by the driven members of the drive means, for example, by the end effectors 9 of the robot 1.
SANO MASATOSHI
KEGASA YOSHINORI
| JP2001202134A | 2001-07-27 | |||
| JPH01230107A | 1989-09-13 | |||
| JPH10315173A | 1998-12-02 | |||
| JP2001117618A | 2001-04-27 | |||
| JP2000052286A | 2000-02-22 |
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